Safety system for operation of an unmanned aerial vehicle

ABSTRACT

Systems, devices, and methods for a safety system including: selecting an unmanned aerial vehicle (UAV) command on a controller, the controller comprising a first processor with addressable memory; presenting a first activator and a second activator on a display of the controller for the selected UAV command, wherein the second activator is a slider; and sending the UAV command to a UAV if the first activator and the second activator are selected, the UAV comprising a second processor with addressable memory.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. Non-provisional patentapplication Ser. No. 15/808,783, filed Nov. 9, 2017, which claimspriority to and the benefit of U.S. Provisional Patent Application No.62/421,163, filed Nov. 11, 2016, the contents of all of which are herebyincorporated by reference herein for all purposes.

TECHNICAL FIELD

Embodiments relate generally to unmanned aerial vehicles (UAVs), andmore particularly to safety systems for UAVs.

BACKGROUND

One specific danger that may occur during operation of the UAV systemsis the unintentional, inadvertent, or accidental start and/ortermination of flight of the UAV. An accidental initiation of flight caneasily result in injury to persons in the immediate area around the UAV,especially since certain close-up tasks may need to be performed beforeflight, e.g., payload placement, propeller inspection, propellerreplacement, storage media loading, storage media retrieval, batteryplacement, and battery charging. Likewise, such unintended operation candamage the UAV or surrounding property. In a similar manner, anundesired termination of flight could result in loss or damage to theUAV or a delayed and inefficient operation. Having a controller with asingle button to control such operations tends to lend itself toaccidental commands occurring.

SUMMARY

An exemplary method embodiment may include: selecting an unmanned aerialvehicle (UAV) command on a controller, the controller comprising a firstprocessor with addressable memory; presenting a first activator and asecond activator on a display of the controller for the selected UAVcommand, where the second activator is a slider; and sending the UAVcommand to a UAV if the first activator and the second activator areselected, the UAV comprising a second processor with addressable memory.Additional method embodiments may include: receiving, by the UAV, theUAV command; and executing the received UAV command on the UAV. The UAVcommand may be sent if the first activator is selected prior to theselection of the second activator. The UAV command may be sent if thefirst activator is selected concurrent with the selection of the secondactivator. Selecting the first activator may further include:maintaining selection of the first activator while the second activatoris selected.

In some method embodiments, the selected UAV command may be a launchcommand, where the first activator may be a button, where the secondactivator may be a vertical slider, and where selecting the secondactivator may include sliding a button in an upward direction in theslider relative to a display of the controller. Additional methodembodiments may include: determining, by the controller, a remainingflight time based on a battery state of charge needed by the UAV toreturn to and land at a launch location; and presenting the remainingflight time on the display of the controller. Additional methodembodiments may include: determining, by the controller, a position ofthe UAV relative to the controller; and presenting a wayfinder on thedisplay of the controller, wherein the wayfinder is oriented toward theposition of the UAV.

In some method embodiments, the selected UAV command may be a return andland command, where the first activator may be a button, where thesecond activator may be a horizontal slider, and wherein selecting thesecond activator comprises sliding a button horizontally in the sliderrelative to a display of the controller. The return and land command maydirect the UAV to land at a location it launched from.

In some method embodiments, the selected UAV command may be a land nowcommand, where the first activator may be a button, where the secondactivator may be a vertical slider, and where selecting the secondactivator may include sliding a button in a downward direction in theslider relative to a display of the controller. The land now command maydirect the UAV to land at a location proximate to a geographicalposition of the UAV when the UAV receives the land now command. In somemethod embodiments, the selected UAV command may be an emergency stopcommand, where the first activator may be a button, where the secondactivator may be a vertical slider, and where selecting the secondactivator may include sliding a button in a downward direction in theslider relative to a display of the controller. The emergency stopcommand may direct the UAV to stop at least one motor of the UAV.

Additional exemplary method embodiments may include: determining, by aprocessor of an unmanned aerial vehicle (UAV), a remaining battery stateof charge needed by the UAV to return to and land at a launch location;and commanding, by the processor of the UAV, the UAV to return to andland on the launch location if the determined remaining battery state ofcharge is within a set limit. The method may further include:commanding, by the processor of the UAV, the UAV to land now at the UAVcurrent location if the determined remaining battery state of charge isunder a set limit for returning and landing at the launch location. Themethod may further include: determining, by the processor of the UAV, ifa fault condition has occurred; and commanding, by the processor of theUAV, the UAV to at least one of: return to and land on the launchlocation and land now at the UAV current location.

Exemplary system embodiments may include: an unmanned aerial vehicle(UAV) having a processor and addressable memory; the processorconfigured to: determine a UAV command based on a set of statusinformation of the UAV, where the set of status information may bereceived from at least one sensor associated with the UAV; transmit thedetermined command to a controller for confirmation; and a controllerhaving a processor and addressable memory, where the controller may beconfigured to: receive a transmitted UAV command from the UAV; present afirst activator and a second activator on a display of the controllerfor the selected UAV command, where the second activator is a slider;confirm that the first activator and the second activator are executedsuccessfully; and send the UAV command confirmation to the UAV forexecution at the UAV of the command; where the UAV may execute the UAVcommand based on receiving the confirmation. In additional systemembodiments, the UAV command may be at least one of: a return and landcommand, a land now command, and an emergency stop command.

BRIEF DESCRIPTION OF THE DRAWINGS

The components in the figures are not necessarily to scale, emphasisinstead being placed upon illustrating the principals of the invention.Like reference numerals designate corresponding parts throughout thedifferent views. Embodiments are illustrated by way of example and notlimitation in the figures of the accompanying drawings, in which:

FIG. 1A depicts an exemplary autonomous vertical take-off and landing(VTOL) unmanned aerial vehicle (UAV) with a set of indicators positionedon an exterior of the UAV;

FIG. 1B depicts an exemplary controller for operating the UAV of FIG. 1Afrom a distance;

FIG. 1C depicts indicator lights for the UAV of FIG. 1A during variousoperating conditions;

FIG. 2 depicts exemplary operational steps of a system utilizing the UAVand controller of FIGS. 1A-1B;

FIG. 3 depicts a vertical take-off and transition to horizontal flightof the exemplary VTOL UAV of FIG. 1A;

FIG. 4A depicts a display screen for the controller of FIG. 1B forlaunching the UAV of FIG. 1A;

FIG. 4B depicts a user interacting with the screen of FIG. 4A to launchthe UAV of FIG. 1A;

FIG. 5 depicts a map of an area selected by a user prior to launchingthe UAV;

FIG. 6 depicts a display screen for the controller of FIG. 1B for aflight operation screen;

FIG. 7 depicts a detailed view of the flight operation screen of FIG. 6;

FIG. 8A depicts a display screen for the controller of FIG. 1B forreturning the UAV of FIG. 1A to where it departed from;

FIG. 8B depicts a user interacting with the screen of FIG. 8A to landthe UAV of FIG. 1A to where it departed from;

FIG. 9A depicts a display screen for the controller of FIG. 1B forlanding the UAV of FIG. 1A at its current location;

FIG. 9B depicts a user interacting with the screen of FIG. 9A to landthe UAV of FIG. 1A at its current location;

FIG. 10A depicts a display screen for the controller of FIG. 1B foreffecting an emergency stop of the UAV of FIG. 1A;

FIG. 10B depicts a user interacting with the screen of FIG. 10A toeffect the emergency stop of the UAV of FIG. 1A;

FIG. 11 depicts a flowchart of a method of operating the UAV of FIG. 1Awith a safety system via the controller of FIG. 1B;

FIG. 12 depicts an exemplary safety system for the UAV of FIG. 1A; and

FIG. 13 illustrates an exemplary top level functional block diagram of acomputing device embodiment of a safety system.

DETAILED DESCRIPTION

The present system allows for a safety system for operating an unmannedaerial vehicle (UAV) that requires at least two unique and independentactions to launch the UAV, return to land from where the UAV launched,land the UAV at its current location, and effect an emergency stop ofthe UAV at its current location. As UAVs have become more commerciallyavailable they are more likely to be operated by relatively unskilledusers and in potentially less than ideal situations and conditions. Thedisclosed system comprising built-in safe-guards, may provide anacceptable level of usability by simplifying the user's operation andinterface, while doing so in a sufficiently safe and intuitive manner.Additionally, the system may provide an environment where the UAV mayautomatically execute certain actions based on data received by thesafety system.

The disclosed safety system for the operation of an automatic orautonomous flying UAV is configured to prevent or limit unintendedactivation of a critical action, such as the initiation and/ortermination of flight operations of the UAV. This is achieved by thesystem requiring that the user to manipulate or operate more than oneseparate activator before the desired event or action commences. In someembodiments, at least one of these activators may be a slider or swipingbar. In other embodiments, the safety system may initiate a set ofactions without user interaction in order to preserve the safest outcomepossible given the circumstances.

In some embodiments, the initiation of flight may include the verticaltake-off of a UAV. Similarly, the termination of flight may include avertical landing either at, or near, the original take-off location.This landing maneuver may be referred to as a return to home (RTH),return home, return to launch, or return to base (RTB) termination. TheUAV may also land at a location relatively near the UAV's flightposition upon termination of flight. This landing maneuver may bereferred to as a land now, land immediate, or land immediatelytermination, which may be useful in emergency situations. A more severeexample of the termination of flight may be an emergency stop commandthat stops all propulsion of the aircraft. This final action would onlybe used in a more extreme safety event, e.g., a tumbling out-of-controlaircraft or unintended controlled flight into terrain.

FIG. 1A depicts an exemplary autonomous vertical take-off and landing(VTOL) unmanned aerial vehicle (UAV) 100 with a set of indicators 102,e.g., a light bar, positioned on an exterior of the UAV. FIG. 1B depictsan exemplary controller 104 for operating the UAV 100 of FIG. 1A from adistance. The UAV 100 may have a set of propellers or rotors 106 withmotors 108 in motor pods 110 positioned upward at the wingtips. In someembodiments, there may be four rotors and corresponding motor pods withtwo of them unseen and positioned directly behind those shown, such thatthere is a pair on either side of each wing tip to provide a quad-rotorconfiguration. The UAV may have a processor with addressable memory tocontrol one or more functions of the UAV, receive commands from thecontroller 104 via a receiver or transceiver, and send data to thecontroller 104 or other devices via a transmitter or receiver.

The disclosed system may include warnings, such as indicators 102, forthose persons in or near the area of operation and an ability to monitorthe aircraft state and terminate flight via the controller 104 if suchstate exceeds one or more defined limitations. The indicators 102 mayinclude operation of one or more warning lights, such as a set offlashing lights, the operation of warning siren or other noise maker,and/or an initial slow turning of the rotors 106 of the UAV 100.Different color lights may be used to indicate readiness of the UAV,e.g., green light for go and red lights for no go. Green flashing lightsmay indicate go, but with caution because launch is commencing. Redflashing light may indicate a warning and no go. The indicators 102 mayturn off while imaging in horizontal flight to ensure accuracy of anysensors used on the UAV.

The UAV 100 may include a UAV state monitor that may include the use ofany of a variety of sensors, such as a gyroscope, an accelerometer, apressure sensors, an Inertial Measurement Unit (IMU), an InertialNavigation System (INS), a compass, a global positioning satellite (GPS)unit, an optical sensor, a radar, a sonic sensor, and a batterystate-of-charge sensor. The measurements from these sensors may betracked and compared by the UAV's processor against a set of limits orother values to determine if the UAV is properly positioned to maintainand continue the flight. In the event that the UAV state monitordetermines that the UAV has, or is going to, surpass a set of definedlimits, then the UAV processor may terminate the flight to maintain ormaximize safe operations. Additionally, the UAV processor may execute aset of actions dynamically based on data received from the UAV statemonitor with or without a connecting to the system controller 104.

The system controller 104 may have a display or screen 112 for operatingthe UAV 100 from a distance. The controller 104 may include a controllerprocessor, addressable memory, and transmitters/receivers forestablishing a connection via a communication channel. The display 112may be a flat panel touch screen that projects variable controlactivators, e.g., graphic buttons, switches, knobs, and sliders, tocontrol the operation of the UAV 100. The controller processor mayconvert the user inputs to commands to be sent by the communicationchannel, e.g., a wired or wireless connection to the UAV 100 and providea graphical display of the operation of the UAV 100, such as imagestransmitted by the UAV 100 and/or other operational information. Thecontroller 104 may be handheld and may include any of a variety ofposition sensors such as gyroscopes and accelerometers and cameras.While a tablet is shown, other computing devices may be used in itsplace, such as a smartphone, a laptop, desktop, etc.

FIG. 1C depicts a set of indicator lights for the UAV of FIG. 1A duringvarious operating conditions. In one embodiment, in standby mode, thelights may have a slow pulsing or breathing sequence 114 to indicatethat the UAV is ready for flight but is not yet operating. Duringoperating mode, the lights may flash green 116. If an error or faultoccurs, the lights may flash red 118. During uploading, the lights maychase up 120. During downloading, the lights may chase down 124. Duringa software update, the lights may scan 126. The various colors andpatterns of the indicator lights may provide and convey visualconfirmation to a user of the UAV, status from a safe operatingdistance. For example, if the lights transition from slow pulsing 114 toflashing green 116, the user is alerted that the UAV may be in startupmode and indicating that the user has time to move a safe distance fromthe UAV. If the UAV lands with flashing red lights 118, the user isalerted that an error or fault has occurred and may proceed withdiagnostics to determine the problem prior to a next flight of the UAV.

FIG. 2 depicts exemplary operational steps of a system 200 utilizing theUAV and controller of FIGS. 1A-1B. In this embodiment, the user maystart by defining 201 an area to be observed by the UAV, as shown inFIG. 5. In an agricultural setting, this may involve defining a propertywhere the UAV by way of a flight path may capture information aboutcrops. The user may launch 202 the UAV via a vertical take-off method.The user may use a guided sequencer, such as shown in FIGS. 4A-4B, tosafely launch the UAV and prevent any accidental launches. The user maythen monitor 204 the airspace while the UAV navigates a preplannedroute. The user may be required to maintain constant line of sight withthe UAV while it is in the air. The user may then land the UAV via avertical landing from the original location or near where the UAV waslocated when commanded to land. The user may have a quick-lookassessment 206, via the controller, shown in FIG. 1B. The assessment 206may provide a view of maps once the UAV has landed. The user may upload208 the data from the UAV to a local drive, cloud system, or otherdatabase for further analysis. The upload 208 may be done wirelessly,wired, or by removing a memory store, such as an SD-card located on theUAV.

In some embodiments, the user may conduct further analysis 210 of thedata, where the UAV is used in agriculture, for example, the analysis210 may be used to detect early signs of crop stress, water issues,and/or estimated crop yield. The user may then repeat 212 the process.Repeated flights and gathered data may be used to provide historicalinsights. In an agricultural use, these insights may be used within anindividual growing season and from season to season. The data analysismay be done on the user device, such as the controller of FIG. 1B, auser computing device, and/or a remote cloud system.

FIG. 3 depicts a vertical take-off and transition to horizontal flightof the exemplary VTOL UAV 100 of FIG. 1A. The UAV 100 may transitionfrom vertical flight to horizontal flight by varying the thrust producedby its motors. The UAV 100 is in a first position 301 on the groundready for vertical take-off. An on-board controller having a processorand addressable memory may send a signal to the motors to produce thrustneeded for vertical take-off and subsequent adjustments to thrust duringflight. Flight control may be autonomous, pre-programmed, and/orcontrolled by an external user at a ground control system. Top motors310 create top thrust 314, and bottom motors 320 create bottom thrust324. During vertical take-off, the top thrust 314 and bottom thrust 324may be substantially equal. The top thrust 314 and the bottom thrust 324are depicted as angled based on the angles of the respective motors 310,320 to have both a vertical and a lateral component.

The figure further depicts the UAV 100 in a second position 303, wherethe UAV may be transitioning from vertical flight to horizontal flight.The UAV 100 pitches forward by increasing a top thrust 316 produced bythe top motor 310 and decreasing a bottom thrust 326 produced by thebottom motor 320. This thrust differential produces a net moment 304about a center of mass 302 of the UAV 100, which causes the UAV 100 topitch forward. The UAV 100 is in a third position 305 in forwardhorizontal flight. A wing lift 338 is carrying the weight of the UAV100. As the top thrust 318 and bottom thrust 328 are adjusted, the UAV100 may be pitched up or down. Adjusting thrust to the motors on theopposing end of a wing 330 of the UAV 100 may allow the UAV 100 to beyawed left or right by differential thrust between the right and leftsides. In embodiments of the safety system, an action may be executed atany of these stages of flight and may be executed by a user at thecontroller (FIG. 1B, 104) or the processor of the UAV.

FIG. 4A depicts a visual display screen 400 for the controller of FIG.1B for launching the UAV of FIG. 1A. The display screen may also be usedon an auxiliary device, second controller, or any number of mirroreddisplays. The screen 400 may include a launch activator or button 420positioned in a slider 410 along with a lock activator or button 430. Inorder to prevent or limit unintended launch of the UAV, e.g., by anaccidental press of a single launch button when handling or storing thecontroller, the system may require that the lock button 430 beactivated, i.e., pressed, simultaneously with, or sequentially with, thesliding of the launch button 420 through, or at least substantiallythrough, the length of the slider 410. The required dual action withsimultaneous sliding of the button 420 further reduces the potential foran unintended activation. Moving the button 420 by itself and withoutpressing the lock button at the same time will not activate the launchof the UAV. In some embodiments, the button 420 may or may not movewithout the lock button being activated. Accordingly, a launch may notbe initiated without the depression of the lock button 430. In someembodiments, the lock button 430 may be configured to retain itsunlocked position after being pressed until the launch button 420 isactivated, which may allow for a single finger or non-simultaneousoperation of the buttons 420, 430. The screen may include an indicator440 for the final position of the button 420 in the slider 410. Themovement of the button 420 in the slider 410 mirrors the action of theUAV, i.e., the UAV is moving upward in a vertical launch as the button420 is moving upward in the slider. This mirroring of the action ensuresthat the user does not utilize an incorrect screen.

FIG. 4B depicts a user 402 interacting with the screen 400 of FIG. 4A tolaunch the UAV of FIG. 1A. The user 402 slides the launch button 420 inthe slider 410. In some embodiments, the user 402 may need toconcurrently depress the lock button 430 at the same time or havepressed the lock button 430 before sliding the launch button 420. Anindicator 404, such as an arrow, may appear once the user presses thelaunch button 420 to indicate the direction to slide the launch button420 in the slider 410 to launch the UAV. The launch slider 420 may bearranged in a vertical orientation, relative to the screen or display400. This provides the user 402 with a more intuitive action, namely, tolaunch the UAV in a vertical take-off direction where the user is movingthe launch button 420 upwards. In some embodiments, this intuitiveoperation may be enhanced by the addition of a graphic in or about theslider indicating the sky, or otherwise, such as an image of the sun asan indicator 440 that the user moves the launch button 420 over.

FIG. 5 depicts a map 500 of an area selected by a user prior tolaunching the UAV. The user may have one or more areas of interest 502,504, 506, such as fields of crops. The user may define a flight area 508surrounding the one or more areas of interest 502, 504, 506. The largerflight area 508 accommodates the launch location of the UAV 510 and theneed of the UAV to maneuver about the areas of interest 502, 504, 506. Akeep in zone 512 may be set by the user that surrounds the flight area508. The keep in zone 512 may be a property boundary or borderidentifying a restricted area that the UAV is not allowed to fly over.If the UAV crosses the keep in zone 512 boundary, the UAV may effect anautomatic emergency stop, land now, or return & land command based onuser and/or system settings.

FIG. 6 depicts a visual display screen for the controller of FIG. 1B fora flight operation screen 600. The operation screen 600 is the missionor flight operation screen for the user. In some embodiments, the screen600 may be the next screen displayed to the user immediately afteractivation of the launch is complete, as in FIGS. 4A-4B. The screen 600is an operation screen as it shows the progress of the UAV after launchand during a flight or mission, and will be the user's interface for theduration of the flight, if and until the UAV is commanded to land, haslanded, or the operation of the UAV is otherwise terminated. The screen600 may include three tabs or buttons at or near the top of the display.

In one embodiment, a tab may be used as an emergency stop tab 602, whichwhen activated or pressed will take the user to an emergency stopscreen, an embodiment of which is shown in FIGS. 10A-10B. Another tab isa land now tab 604, which when activated or pressed will take the userto a land now screen, an embodiment of which is shown in FIGS. 9A-9B. Athird tab is a return & land tab 606, which when activated or pressedwill take the user to a return and land screen, an embodiment of whichis shown in FIGS. 8A-8B.

The screen 600 may display a time indicator 608, which may displayflight time remaining until the UAV has to land. In one embodiment, thetime indicator 608 may be based on a battery state of charge, apredetermined flight path, etc. The time indicator 608 may be updated ifthe UAV is encountering conditions that increase the flight time such asa strong headwind. In some embodiments, the time to land may be limitedto a specified time period.

The screen 600 may also include a wayfinder 610. The wayfinder 610 maypoint in the direction of the UAV relative to the controller. While theoperator of the UAV should maintain constant line of sight, when in theair, the wayfinder 610 provides security in case the operatortemporarily loses track of the UAV in their line of sign. The wayfinder610 may also be used to locate the UAV in the event of a land nowcommand. The wayfinder 610 may be most accurate when the controller isheld parallel to the ground. In some embodiments, the wayfinder 610 mayuse a combination of the UAV location and an orientation of thecontroller to determine the direction of the indicator of the wayfinder610.

The screen 600 may have one or more tabs 612, 614, 616, 618 to accessone or more features of the system. For example, the user may use thesetabs 612, 614, 616, 618 to switch between a map view, an annotation viewallowing the user to annotate the map view, a gallery including one ormore pictures, videos, or data captured by the UAV, and additionalinformation such as a user guide or tips.

FIG. 7 depicts a detailed view 700 of the flight operation screen ofFIG. 6. The progress of the flight or mission of the UAV may bedisplayed in a stylized manner. Additionally, an icon showing the UAV702, various land segment icons 704, 706, survey boundaries 502, 504,506, and a landing or home location 510 may be displayed. The UAV icon702 may be a representation of the aircraft, such as the UAV 100 setforth in FIG. 1 and further discussed in detail herein. The UAV icon 702shows the relatively current position of the aircraft, which may bebased on location data sent in real time, or near real time, wirelesslyfrom the UAV to the controller. As the UAV performs its mission, theicon 702 moves 708 as indicated by a line about the screen, typically ina back and forth or switching back manner.

The land segment icons 704, 706, show defined segments of land with arepresentative value based on the data collected by the UAV.Specifically, the UAV may send back to the controller in real time, ornear real time, data defining the four geographic corners of each landsegment and value summarizing, averaging, or otherwise generalizing, thesensor data received from surveying or observing that portion of land.For example, segments 704 may be displayed as a green block indicatinggenerally the conditions of that segment of land are in good condition,or healthy, such as sufficiently watered crops. Segments 706 may bedisplayed as red or yellow blocks indicating generally that theconditions of that segment of land are unhealthy or otherwise notdesired, such as crops that are too dry and need additional water.

The survey boundary 502, 504, 506 lines indicate where the UAV willperform its scanning operations broken down into individual segments,such as segments 704, 706. The survey boundaries may be determined priorto flight during the user's mission planning either by using acontroller, such as controller 120 and/or through an online portal, asin FIG. 5. The surrounding polygons around the survey boundariesindicate the airspace 508 required for the UAV to turn around betweenscanning passes. This surrounding area 508 is therefore part of anoverfly zone but is not imaged or scanned.

The flight operations of the UAV may conclude when the UAV has coveredand obtained data on all of the land within survey boundary 502, 504,506. The UAV will then return to the landing location 510. Any of thethree contingency actions disclosed herein may conclude the flightearlier than planned, such as, if an error or fault has occurred.

FIG. 8A depicts a visual display screen 800 for the controller of FIG.1B for returning the UAV of FIG. 1A to where it departed from. Theaction of activating the tab 606 for return & land is the first step ofa multiple-step process to terminate the flight from the mission orflight operation screen of FIG. 6.

Display screen or window 800 is displayed to a user on the controller ofFIG. 1B or similar device. In some embodiments, the screen 800 may bethe next screen displayed to the user immediately after activation ofthe return & land tab 606 on the flight operation screen of FIG. 6. Thescreen 800 may comprise a lock button 802 that must be pressed or heldconcurrently with a return and land activator or button 804 positionedin a slider 806. In order to prevent or limit unintended return andlanding of the UAV, such as by an accidental press of a single landbutton when handling or storing the controller, the system may requirethe sliding of the return and land button 804 through, or at leastsubstantially through, the length of the slider 806. The requiredsliding of the button 804 further reduces the potential for anunintended activation. As such, for the user to initiate a return andland operation of the UAV from the UAV's mission or operation, the usermay have to perform a multi-step operation. For example, a three-stepoperation of first activating the return & land tab 606, pressing orholding the lock button 802, and then on screen 800 sliding the button804 through the slider 806.

The arrangement of the return and land slider 806 in a horizontalorientation, relative to the screen or display 800, may provide a moreintuitive application, namely to return and land the UAV the user wouldbe moving the button 806 sideways to follow or mimic the operation ofthe UAV returning to its initial launch site from some operationallocation some relatively horizontal distance away. In some embodiments,this intuitive operation may be enhanced by the addition of a graphic808 in or about the slider indicating the initial launch point orotherwise the home location, such as a stylized helicopter padindicating that the user has moved the return and land button 804 over.

FIG. 8B depicts a user 402 interacting with the screen 800 of FIG. 8A toland the UAV of FIG. 1A to an original departure location. The user 402may slide the return and land button 804 in the slider 806. In someembodiments, the user 402 may need to concurrently depress the lockbutton 802 at the same time or have pressed the lock button 802 beforesliding the return and land button 804 to enable the return and landoperation. An indicator 810, such as an arrow, may appear once the userpresses the return and land button 804 and/or the lock button 802 toindicate the direction to slide the return and land button 804 in theslider 806 to return and land the UAV to where it departed from. Thereturn and land slider 806 may be arranged in a horizontal orientationrelative to the screen or display 800. This provides the user 402 with amore intuitive action, namely to return the UAV in a horizontal flightpath in which the user is moving the return and land button 804, i.e.,horizontally. In some embodiments, this intuitive operation may beenhanced by the addition of a graphic in or about the slider indicatinga landing location, or otherwise, such as an image of a helicopterlanding pad as an indicator 808 that the user needs to move the returnand land button 804 over.

FIG. 9A depicts a visual display screen 900 for the controller of FIG.1B for landing the UAV of FIG. 1A based on the current location of theUAV. The screen 900 may be the next screen displayed to the userimmediately after activation of the land now tab 604. The screen 900 mayinclude a land now activator or button 902 positioned in a slider 904.In order to prevent or limit unintended landing of the UAV, such as byan accidental press of a single land button when handling or storing thecontroller, some embodiments may require the sliding of the land nowbutton 902 through, or at least substantially through, the length of theslider 904. The required sliding of the button 902 further reduces thepotential for an unintended activation. As such, for the user toinitiate a land now operation of the UAV from the UAV's mission oroperation, the user has to perform a multi-step operation. For example,a two-step operation of first activating the land now tab 604, and thensliding the button 902 on the screen 900 through the slider 904. In someembodiments, there may be a three-step operation of activating the landnow tab 604, pressing and/or holding a lock button 906, and then slidingthe land now button 902 through the slider 904 to a set location, whichmay be marked with an indicator 908, such as a flat line for the ground.

The arrangement of the land now slider 904 in a vertical orientation,relative to the screen or display 900, and the indication of a slidedirection downward corresponds to the UAV landing at its presentlocation. To land the UAV now, the user may move the button 902 downwardto follow or mimic the operation of the UAV landing without anysubstantial, or further, horizontal movement from its then currentlocation. In some embodiments, this intuitive operation may be enhancedby the addition of a graphic in or about the slider indicating 908 alanding location, such as an image of a stylized flat landing locationthat the user moves the land now 902 button over. The vertical movementof the land now button 902 and slider 904 distinguishes from thehorizontal orientation of the return and land button as slider, as shownin FIGS. 8A-8B. The change in orientation ensures that a user does notaccidentally land the UAV at its present location when the user wantsthe UAV to return to the location from which it launched.

FIG. 9B depicts a user interacting with the screen 900 of FIG. 9A toland the UAV of FIG. 1A at the current location of the UAV. The user 402may slide the land now button 902 in the slider 904 to effect thelanding of the UAV. In some embodiments, the user 402 may need toconcurrently depress the lock button 906 at the same time or havepressed the lock button 906 before sliding the land now button 902. Anindicator 910, such as an arrow, may appear once the user presses theland now button 902 and/or the lock button 906 to indicate the directionto slide the land now button 902 in the slider 904, to land the UAV atits current location. The land now slider 904 may be arranged in avertical orientation, relative to the screen or display 900. Thisprovides the user 402 with a more intuitive action, namely to land theUAV in a vertical landing the user is moving the land now button 902vertically. In some embodiments, this intuitive operation may beenhanced by the addition of a graphic in or about the slider indicatinga landing location, or otherwise, such as an image of a flat ground asan indicator 908 that the user is moving the land now button 902 over.

FIG. 10A depicts a visual display screen 1000 for the controller of FIG.1B for effecting an emergency stop of the UAV of FIG. 1A. The screen1000 may be the next screen displayed to the user immediately afteractivation of the emergency stop tab 602. The screen 1000 may include anemergency stop activator or button 1002 positioned in a slider 1004. Inorder to prevent or limit an unintended emergency stop of the UAV, suchas by an accidental press of a single land button when handling orstoring the controller, some embodiments may require the sliding of theemergency land button 1002 through, or at least substantially through,the length of the slider 1004. The required sliding of the button 1002further reduces the potential for an unintended activation. As such, forthe user to initiate an emergency stop operation of the UAV from theUAV's mission or operation, the user has to perform a two-step operationof first activating the emergency stop tab 602 and then on screen 1000sliding the button 1002 through the slider 1004. In some embodiments,there may be a three-step operation of activating the emergency stop tab602, pressing and/or holding a lock button 1006, and then sliding theemergency stop button 1002 through the slider 1004 to a set location,which may be marked with an indicator 1008, such as a flat line for theground.

The arrangement of the emergency stop slider 1004 in a verticalorientation, relative to the screen or display 1008, and the indicationof a slide direction downward may correspond to the UAV stopping andfalling to the ground at its present location. To enact an emergencystop of the UAV, the user is showing in the figure as moving the button1002 downward to follow or mimic the operation of the UAV falling to theground without any substantial, or further, horizontal movement from itsthen current location. In some embodiments, this intuitive operation maybe enhanced by the addition of a graphic in or about the sliderindicating 1008 a landing location, such as an image of a stylized flatlanding location that the user moves the emergency stop button 1002over. The vertical movement of the emergency stop button 1002 and slider1004 distinguishes from the horizontal orientation of the return andland button as slider, as shown in FIGS. 8A-8B. The change inorientation ensures that a user does not accidentally land the UAV atits present location when the user wants the UAV to return to thelocation from which it launched. The emergency stop button 1002 andslider 1004 may be distinguished from the land now button and slider, asshown in FIGS. 9A-9B, by, for example, additional warnings, color codingof the screens, a visual warning, etc. While the land now button acts tovertically land the UAV in its present location, the emergency stopbutton 1002 and slider 1004 act to cut power to the UAV, which may causedamage or complete loss of the UAV. The emergency stop capability may benecessary in instances where the UAV has encountered a severe fault, isout of control, or other scenarios where the emergency stop isnecessitated.

FIG. 10B depicts a user 402 interacting with the screen 1000 of FIG. 10Ato effect the emergency stop of the UAV of FIG. 1A. The user 402 isshown sliding the emergency stop button 1002 in the slider 1004. In someembodiments, the user 402 may need to concurrently depress the lockbutton 1006 at the same time or have pressed the lock button 1006 beforesliding the emergency stop button 1002. An indicator 1010, such as anarrow, may appear once the user presses the emergency stop button 1002and/or the lock button 1006 to indicate the direction to slide theemergency stop button 1002 in the slider 1004 to cut power to the UAVmotors at its current location. The emergency stop slider 1004 isarranged in a vertical orientation, relative to the screen or display1000. This provides the user 402 with a more intuitive action, namely tocause the UAV to fall out of the air in an emergency stop the user ismoving the emergency stop button 1002 vertically. In some embodiments,this intuitive operation may be enhanced by the addition of a graphic inor about the slider indicating a landing location, or otherwise, such asan image of a flat ground as an indicator 1008 that the user moves theemergency stop button 1002 over.

FIG. 11 depicts a flowchart of a method 1100 of operating the UAV ofFIG. 1A with a safety system via the controller of FIG. 1B. Anautonomous flying UAV, such as in FIG. 1A, may be positioned on theground in a pre-flight state without the rotor motors operating (step1102). The UAV may be operated by a user via a wireless controller, suchas the controller of FIG. 1B. The UAV may initiate operation by the useroperating a first activator and second activator on the controller (step1104). In one embodiment, activating only one of the two activatorsalone will not initiate operation of the UAV. In other embodiments, atleast one of the activators may be a slider. In some embodiments,multiple activators, for example, three activators may be required:selecting a launch tab, pressing and/or holding a lock button, andsliding a button in a slider. The controller may process the operationof the first activator, second activator, and optionally thirdactivator, and send a wireless signal to the UAV to initiate operationof the UAV (step 1106). The processor of the UAV may receive the signalfrom the controller to initiate operation of the UAV to execute thecommand (step 1108).

The UAV processor may then command the UAV motors to turn the attachedpropellers at a low speed to limit damage in the event of contact withany object or article (step 1110). The slow start-up of the rotors mayalso provide a warning to the user and/or any individuals near the UAVthat the UAV is about to launch and that they should move a safedistance from the UAV. In some embodiment, the speed of the propellersmay be adjusted during this warning step, where the speed may varydepending on the distance of the controller to the UAV. That is, thesystem including the UAV and speed of any propeller thereof, may beadjusted during this operation, to be sufficient to warn any person inthe vicinity of the UAV. This warning may occur prior to, subsequent to,or simultaneously with the warning lights (step 1112) or monitoringsensors (step 1114). The UAV processor may then turn on warning lightson the UAV (step 1112).

The UAV processor may begin monitoring sensors to determine the state ofthe UAV, to terminate operation of the UAV in the event the UAV stateexceeds predefined limits (step 1114). This monitoring may includeoperational hazards, unsafe conditions, or crash detection monitoring.The UAV state monitor may include the use of any of a variety ofsensors, such as gyroscopes, accelerometers, pressure sensors, InertialMeasurement Unit (IMU), Inertial Navigation System (INS), compasses,global positioning satellite (GPS) units, optical (visual flow) sensors,radar, sonic sensors, battery energy estimates, servo actuator current,motor current, data quality, and the like. The measurements from suchsensors are then tracked and compared by the UAV's processor against aset of limits or other values to determine if the UAV is properlypositioned to maintain and continue the flight. In the event that theUAV state monitor determines that the UAV has, or is going to, surpass aset of defined limits, then the UAV processor may terminate the flightto maintain or maximize safe operations. In addition to sensor values,the UAV's processor is able to compare derived values for the aircrafthealth data against what is required for the flight. In one embodiment,the UAV processor may verify that the aircraft battery is reportingsufficient battery energy to execute the planned mission, where theprocessor may be configured to monitor a variable energy threshold basedon the size of the planned mission area and hence against the requiredbattery energy. For example, the battery level may not supportcompletion of the current planned mission and therefore, the UAVprocessor may redirect the UAV in a different route to achieve as muchof the planned mission as possible, this being based on the batterylevel left and prior usage of the battery in the same mission.Accordingly, by use of previous information and state of the UAV system,a hysteresis system may be implemented where a current state of thesystem and output is not a strict function of the corresponding input,but also depends on the previously collected data.

The UAV processor may then command an increased speed of the motors andpropellers to begin flight of the UAV (step 1116). If needed, the flightmay be terminated by operating a first activator and a second activatoron the controller (step 1118). Activating only one of the two activatorsalone may not terminate the flight of the UAV. At least one of theactivators may be a slider. In some embodiments, three activators may berequired, e.g., selecting a flight termination tab, pressing and/orholding a lock button, and sliding a button in a slider.

FIG. 12 depicts an exemplary safety system 1200 for the UAV 100 of FIG.1A. The UAV may start from a launch location 1202 on the ground 1203.The launch location 1202 may be a UAV pod that provides battery chargingfor the UAV 100 and/or data transfer from the UAV following a mission.The UAV 100 may follow a flight path 1204 from vertical take-off tohorizontal flight. The UAV 100 may use horizontal flight to maximizeflight time and the area that may be imaged by one or more sensors onthe UAV 100. The user 402 may use the controller 104 to monitor andcontrol the UAV 100.

The user 402 may initiate a vertical launch of the UAV 100 by two ormore activators on the controller 104, as in FIGS. 4A-4B. The user mayselect a launch window, press or hold a lock button, and slide a launchbutton in a slider to launch the UAV 100. The launch button may be slidvertically upwards relative to the screen of the controller to match thevertical take-off of the UAV 100. By using at least two separateactivators, the user 402 may avoid an accidental launch of the UAV 100.Prior to launch, the UAV 100 may emit one or more warnings, such asindicator lights as shown in FIG. 1C, an audible warning from a speaker,the motors, or the controller, and/or an initial slow turning of therotors or propellers of the UAV 100. Since the user 402 may need to bepositioned a safe distance 1206 from the UAV launch location 1206, theone or more warnings prior to launch may ensure that the user 402 or anyother individuals are not too close to the UAV 100 at launch. If theuser 402 or any other individual is too close to the UAV 100, thewarnings provide time to move a safe distance away and/or to terminatethe launch.

Once the UAV is in flight, the user 402 may send one or more flighttermination commands 1208 to the UAV 100 via the controller 104. The UAV100 may send data 1210 to the controller 104 during flight. The UAV datamay include sensed information, UAV status, any errors or faults, timeto land, sensor status, location of the UAV, etc. In one embodiment, theUAV 100 may determine a wind speed and/or direction by launchingvertically, hovering, and calculating a wind speed and/or directionbased on the movement of the UAV 100 relative to the ground 1203 and/orlaunch location 1202 while hovering. The UAV 100 may use this calculatedwind speed and/or direction to determine an optimized flight path 1204and/or determine a time to land. In one embodiment, the UAV may send asignal to the controller indicating that based on the UAV processorcalculations, the current flight path may not be achievable andaccordingly, request that a user at the controller initiate a land nowor return and land action.

A processor of the UAV 100 may continuously calculate the energyrequired to return to and land 1212 on the launch location 1202. Theprocessor may also continuously calculate the energy required to performa land now 1214 operation at its current location. If the processordetermines that the UAV 100 has just enough battery to return and land1212, the processor may cause the UAV to abort the present mission andreturn and land 1212 at its launch location 1202. In one embodiment, theneed to return and land 1212 may occur if there are high winds and theUAV is using more energy than anticipated to fly through its flight path1204. The user 402 may also command the UAV 100 to return and land 1212via the controller 104 by using two or more activators, such asselecting a tab, pressing or holding a lock button, and sliding a buttonin a slider. The user 402 may enact a return and land 1212 command viathe controller 104 if the user 402 detects a fault, wants the UAV 100 toland, observes a negative change in the weather such as thunderstorms,etc. The return and land 1212 command returns the UAV 100 to itslaunching location 1202 for landing, with no damage to the UAV 100 orobjects in the surrounding area. In some embodiments, the UAV 100 mayenact an automated return and land 1212 if it detects a fault or errorthat does not carry a risk of returning to the launch location 1202,such as a malfunction or obscuration of a visual sensor used to gatherdata 1210.

In one embodiment, in response to a request from the UAV processor toend the current flight, the user may select a return and land tab, as inFIGS. 8A-8B, press or hold a lock button, and slide a return and landbutton in a slider to return and land 1212 the UAV 100. The return andland button may be slid horizontally relative to the screen of thecontroller to match the horizontal movement of the UAV 100 to the launchlocation 1202. By using at least two separate activators, the user 402may avoid an accidental return and land 1212 of the UAV 100.

If the processor of the UAV 100 determines that the UAV 100 does nothave enough battery to return and land 1212, the processor may enact aland now 1214 in which the UAV 100 will land at a location 1216 on theground 1203 near its present location, i.e., the UAV 100 may transitionfrom horizontal flight to vertical flight to land. This land now 1214ensures that the UAV 100 does not run out of battery and fall to theground, which may result in damage to the UAV 100 or objects in thesurrounding area. In some embodiments, the UAV 100 processor may enactan automated land now 1214 operation if it encounters a fault that wouldnot allow for a safe return and land 1212, such as a loss of GPSconnection leading to not having location data information for the UAV.In this exemplary scenario, if the UAV 100 loses GPS it may not be ableto safely navigate and so the processor may automatically cause the UAV100 to land now 1214.

The user 402 may enact the land now 1214 command via the controller 104if the user 402 detects a fault, wants the UAV 100 to land, observes anegative change in the weather such as thunderstorms, etc. The user 402may observe the area over which the UAV is flying to determine whether aland now 1214 is safe for the UAV 100 and any objects on the ground 1203in the location 1216 under the UAV 100. The land now 1214 commandreturns the UAV 100 to the ground 1203 with no damage to the UAV 100 orsurrounding area as long as there is a clear path to the location 1216on the ground 1203 that the UAV will land on.

The user may select a land now tab, as in FIGS. 9A-9B, press or hold alock button, and slide a return and land button in a slider to land now1214. The land now button may be slid vertically from top to bottomrelative to the screen of the controller to match the vertical downwardmovement of the UAV 100 to the landing location 1216 on the ground 1203.By using at least two separate activators, the user 402 may avoid anaccidental land now 1214 of the UAV 100.

The user 402 may enact an emergency stop 1218 command via the controller104 if the user 402 detects a fault and/or needs the UAV 100 to stopflight immediately. The emergency stop 1218 command may cut power to oneor more motors of the UAV 100, which may cause the UAV 100 to crash at alocation 1220 on the ground. Due to the momentum in horizontal flight,in some embodiments, the option to enact an emergency stop 1218 may onlybe available to a user 402 on the controller 104 when the UAV 100 ishovering or in vertical flight, so as to prevent landing in an undesiredlocation. The emergency stop 1218 may result in a loss of the UAV 100 asit crashes to the ground 1203.

The user may select an emergency land tab, as in FIGS. 10A-10B, press orhold a lock button, and slide an emergency land button in a slider toemergency stop 1218. The emergency stop button may be slid verticallyfrom top to bottom relative to the screen of the controller to match thevertical downward movement of the UAV 100 to the landing location 1220on the ground 1203. By using at least two separate activators, the user402 may avoid an accidental emergency land 128 of the UAV 100.

FIG. 13 illustrates an exemplary top level functional block diagram of acomputing device embodiment 1300 of a safety system, such as controller104 of FIG. 1B, and/or one or more VTOL UAV, such as VTOL UAV 100 ofFIG. 1A. The exemplary embodiment 1300 is shown as a computing device1320 having a processor 1324, such as a central processing unit (CPU),addressable memory 1327, an external device interface 1326, e.g., anoptional universal serial bus port and related processing, and/or anEthernet port and related processing, and an optional user interface1329 (See FIGS. 4A-4B, 6, and 8A-10B), e.g., an array of status lightsand one or more toggle switches, and/or a display, and/or a keyboardand/or a pointer-mouse system and/or a touch screen. Optionally, theaddressable memory 1327 may for example be: flash memory, eprom, and/ora disk drive or other hard drive. These elements may be in communicationwith one another via a data bus 1328. The processor 1324 may have anoperating system 1325 such as one supporting a web browser 1323 and/orapplications 1322, which may be configured to execute steps of a processaccording to the exemplary embodiments described herein.

It is contemplated that various combinations and/or sub-combinations ofthe specific features and aspects of the above embodiments may be madeand still fall within the scope of the invention. Accordingly, it shouldbe understood that various features and aspects of the disclosedembodiments may be combined with or substituted for one another in orderto form varying modes of the disclosed invention. Further, it isintended that the scope of the present invention is herein disclosed byway of examples and should not be limited by the particular disclosedembodiments described above.

What is claimed is:
 1. A system for operation of an unmanned aerialvehicle (UAV) comprising: a UAV having a processor and addressablememory, the processor configured to: determine a remaining battery stateof charge needed by the UAV to return to and land at a launch locationbased on a location of the UAV determined by at least one sensor;command the UAV to return to and land on the launch location if thedetermined remaining battery state of charge is within a set limit; andcommand the UAV to return to and land on the launch location if a firstactivator and a second activator on a display of a controller areselected simultaneously.
 2. The system of claim 1 wherein the processoris further configured to: command the UAV to land now at the UAV currentlocation if the determined remaining battery state of charge is under aset limit for returning and landing at the launch location.
 3. Thesystem of claim 1 wherein the processor is further configured to:determine if a fault condition has occurred.
 4. The system of claim 3wherein the processor is further configured to: command the UAV toreturn to and land on the launch location and land now at the UAVcurrent location.
 5. The system of claim 3 wherein the processor isfurther configured to: command the UAV to land now at the UAV currentlocation.
 6. A method for operation of an unmanned aerial vehicle (UAV)comprising: presenting a first activator and a second activator on adisplay of a controller, the controller comprising a first processorwith addressable memory, wherein the second activator is a slider;generating a UAV command for a UAV based on a direction of movement of abutton in the slider of the second activator, wherein the direction ofmovement corresponds to an action of the UAV; and transmitting a UAVcommand to the UAV via a transmitter of the controller if the firstactivator and the second activator are selected, the UAV comprising asecond processor with addressable memory and a receiver configured toreceive the transmitted command.
 7. The method of claim 6 wherein thedirection of movement of the button in the slider of the secondactivator is horizontal relative to a display of the controller, andwherein the generated UAV command is a return and land command.
 8. Themethod of claim 7 wherein the return and land command directs the UAV toland at a location it launched from.
 9. The method of claim 8 furthercomprising: receiving, by the UAV, the return and land UAV command; andexecuting the received return and land UAV command on the UAV, whereinthe executed return and land UAV command comprises a substantiallyhorizontal movement of the UAV from a current location of the UAV. 10.The method of claim 6 wherein the direction of movement of the button inthe slider of the second activator is vertical and downward relative toa display of the controller, and wherein the generated UAV command is aland now command.
 11. The method of claim 10 wherein the land nowcommand directs the UAV to land at a location proximate to ageographical position of the UAV when the UAV receives the land nowcommand.
 12. The method of claim 11 further comprising: receiving, bythe UAV, the land now UAV command; and executing the received land nowUAV command on the UAV, wherein the executed land now UAV commandcomprises a substantially vertical and downward movement of the UAV froma current location of the UAV.
 13. The method of claim 6 wherein thedirection of movement of the button in the slider of the secondactivator is vertical and downward relative to a display of thecontroller, and wherein the generated UAV command is an emergency stopcommand.
 14. The method of claim 13 wherein the emergency stop commanddirects the UAV to stop at least one motor of the UAV.
 15. The method ofclaim 14 further comprising: receiving, by the UAV, the emergency stopUAV command; and executing the received emergency stop UAV command onthe UAV, wherein the executed emergency stop UAV command comprises asubstantially vertical and downward movement of the UAV from a currentlocation of the UAV.
 16. The method of claim 6 wherein the direction ofmovement of the button in the slider of the second activator is verticaland upward relative to a display of the controller, and wherein thegenerated UAV command is a launch command.
 17. The method of claim 16wherein the launch command directs the UAV to launch from a currentlocation when the UAV receives the launch command.
 18. The method ofclaim 17 further comprising: receiving, by the UAV, the launch UAVcommand; and executing the received launch UAV command on the UAV,wherein the executed launch UAV command comprises a substantiallyvertical and upward movement of the UAV from the current location of theUAV.
 19. A system for operation of an unmanned aerial vehicle (UAV)comprising: a controller having a processor and addressable memory,wherein the controller is configured to: present a first activator and asecond activator on a display of a controller, the controller comprisinga first processor with addressable memory, wherein the second activatoris a slider; generate a UAV command for a UAV based on a direction ofmovement of a button in the slider of the second activator, wherein thedirection of movement corresponds to an action of the UAV; and transmita UAV command to the UAV via a transmitter of the controller if thefirst activator and the second activator are selected, the UAVcomprising a second processor with addressable memory and a receiverconfigured to receive the transmitted command.
 20. The system of claim19 further comprising: the UAV having a processor and addressablememory, the UAV processor configured to: receive the UAV command; andexecuting the received UAV command on the UAV, wherein the executed UAVcommand comprises a direction of movement of the UAV corresponding tothe direction of movement of the button in the slider of the secondactivator.